The responses to a step disturbance are similar but the 2-DOF controller eliminates the
overshoot in the response to a setpoint change. You can use showTunable to compare
the tuned gains in the 1-DOF and 2-DOF controllers.
showTunable(T3) % 1-DOF PI
C =
1 s
Kp + Ki --- + Kd --------
s Tf*s+1
with Kp = 9.51, Ki = 14.9, Kd = 0.89, Tf = 0.01
PID Tuning for Setpoint Tracking vs. Disturbance Rejection